Practical methods of optimization; (2nd ed.)
Practical methods of optimization; (2nd ed.)
A fast and robust GJK implementation for collision detection of convex objects
Journal of Graphics Tools
The human-robot interaction operating system
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Effects of anticipatory action on human-robot teamwork efficiency, fluency, and perception of team
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Synthesis and control of whole-body behaviors in humanoid systems
Synthesis and control of whole-body behaviors in humanoid systems
Design methodologies of a hybrid actuation approach for a human-friendly robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Integrating language, vision and action for human robot dialog systems
UAHCI'07 Proceedings of the 4th international conference on Universal access in human-computer interaction: ambient interaction
Real-time 3D face tracking with mutual information and active contours
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
A skill-based approach towards hybrid assembly
Advanced Engineering Informatics
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Direct physical human-robot interaction has become a central part in the research field of robotics today. To use the advantages of the potential for humans and robots to work together as a team in industrial settings, the most important issues are safety for the human and an easy way to describe tasks for the robot. In this work, we present an approach of a hierarchical structured control of industrial robots for joint-action scenarios. Multiple atomic tasks including dynamic collision avoidance, operational position, and posture can be combined in an arbitrary order respecting constraints of higher priority tasks. The controller flow is based on the theory of orthogonal projection using nullspaces and constraint least-square optimization. To proof the approach, we present three collaboration scenarios between a human and an industrial robot.